The San Francisco Landmark Dataset for Mobile Landmark Recognition is a set of images and query images for localization.

We present the San Francisco Landmark Dataset, which contains a database of 1.7 million images of buildings in San Francisco with ground truth labels, geotags, and calibration data, as well as a difficult query set of 803 cell phone images taken with a variety of different camera phones. The data is originally acquired by vehicle-mounted cameras with wide-angle lenses capturing spherical panoramic images. For all visible buildings in each panorama, a set of overlapping perspective images is generated. We provide this dataset to facilitate further research in the important area of landmark recognition with mobile devices.

a SFM reconstruction of a subset is available here:
http://vision.soic.indiana.edu/projects/disco/